四旋翼无人机的有限时间输出反馈姿态跟踪控制  

Finite-time Output Feedback Attitude Tracking Control for a Quadrotor UAV

作　　者：白晓晖 赵林 BAI Xiaohui;ZHAO Lin(School of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,青岛266071

出　　处：《自动化与仪表》2024年第6期49-56,61,共9页Automation & Instrumentation

基　　金：国家自然科学基金面上项目(62373207)。

摘　　要：针对四旋翼无人机姿态系统中存在的执行器饱和、惯性不确定性和外界干扰问题,该文提出了一种有限时间输出反馈控制方法。该方法利用输出反馈来处理系统部分状态的不可观测性,设计神经网络状态观测器来估计未知状态,并基于该估计状态构造虚拟控制信号和控制器。为了克服传统反步法的计算复杂性问题,引入了有限时间命令滤波器来滤波虚拟控制信号,并在有限时间内获得虚拟控制导数,增加误差补偿信号来消除滤波误差。最后,利用Lyapunov方法证明了姿态跟踪误差在有限时间内可以收敛到原点的期望邻域内,并且闭环系统中的所有信号在有限时间内都是有界的。通过Matlab仿真验证了该控制方法的有效性。A finite-time output feedback control method is proposed to solve the problems of actuator saturation,inertial uncertainty and external interference in the attitude system of quadrotor.In this method,the output feedback is used to deal with the unobservability of part of the system state,a neural network state observer is designed to estimate the unknown state,and a virtual control signal and controller are constructed based on the estimated state.In order to overcome the computational complexity of the traditional backstepping method,a finite-time command filter is introduced to filter the virtual control signal and obtain the virtual control derivative in the finite time,and the error compensation signal is added to eliminate the filtering error.Finally,the Lyapunov method is used to prove that the attitude tracking error can converge to the expected neighborhood of the origin in a finite time,and all signals in the closed loop system are bounded in a finite time.The effectiveness of the control method is verified by Matlab simulation.

关 键 词：姿态跟踪控制 有限时间收敛 反步法 输出反馈 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]